@article{WernerStrohmeierRotheetal.2022,
  author    = {Werner, Lennart and Strohmeier, Michael and Rothe, Julian and Montenegro, Sergio},
  title     = {Thrust vector observation for force feedback-controlled UAVs},
  series = {Drones},
  volume    = {6},
  journal   = {Drones},
  number    = {2},
  issn      = {2504-446X},
  doi       = {10.3390/drones6020049},
  url       = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-262153},
  year      = {2022},
  abstract  = {This paper presents a novel approach to Thrust Vector Control (TVC) for small Unmanned Aerial Vehicles (UAVs). The difficulties associated with conventional feed-forward TVC are outlined, and a practical solution to conquer these challenges is derived. The solution relies on observing boom deformations that are created by different thrust vector directions and high-velocity air inflow. The paper describes the required measurement electronics as well as the implementation of a dedicated testbed that allows the evaluation of mid-flight force measurements. Wind-tunnel tests show that the presented method for active thrust vector determination is able to quantify the disturbances due to the incoming air flow.},
  language  = {en}
}